Control algorithm for random moving target tracking trolley based on nonlinear PID

A technology of random motion and target tracking, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve the problems of overshoot and precision contradiction, and achieve the effect of improving the following efficiency and good control effect.

Inactive Publication Date: 2020-04-28
FUJIAN QUANZHOU HIT RES INSTIUTE OF ENG & TECH
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Problems solved by technology

However, it faces the contradiction between overshoot and precision, especially for high-speed moving cars. To achieve random high-speed moving target tracking, it is necessary to predict the target’s motion state in advance and respond quickly, which is difficult for traditional PID controllers. is a big challenge

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  • Control algorithm for random moving target tracking trolley based on nonlinear PID
  • Control algorithm for random moving target tracking trolley based on nonlinear PID
  • Control algorithm for random moving target tracking trolley based on nonlinear PID

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Embodiment Construction

[0017] In order to further explain the technical solution of the present invention, the present invention will be described in detail below through specific examples.

[0018] A control algorithm based on nonlinear PID random moving target tracking dolly, including an algorithm for controlling the speed U(t) of dolly operation, the algorithm of U(t) is a proportional link P, an integral link I and a differential link The nonlinear combination of the three links of D, its time domain function is as follows,

[0019]

[0020] Where e(t) is the deviation between the position of the trolley and the target position at time t, so the purpose of this control method is to adjust the value of U(t) to stabilize the value of e(t) around 0.

[0021] Kp[e(t)] is the proportional link P, and Kp is the gain coefficient of the proportional link P, which itself is also a function relative to e(t). Since the proportional link has the fastest response speed and the most obvious effect, the Kp...

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Abstract

The invention discloses a control algorithm for a random moving target tracking trolley based on nonlinear PID. The algorithm comprises an algorithm for controlling the running speed U (t) of the trolley, and the algorithm of the U (t) is a nonlinear combination of three links: a proportional link P, an integral link I and a differential link D. According to the algorithm, an appropriate elementary function can be selected according to motion characteristics and system characteristics of a random moving target tracking trolley to construct a nonlinear PID coefficient, that is, defects are overcome through nonlinear combination of the proportional link P, the integral link I and the differential link D of PID control.

Description

technical field [0001] The invention relates to the field of equipment for tracking random moving objects, in particular to a control method for a random moving object tracking trolley. Background technique [0002] In the control theory of motion, there are two distinct ways of thinking: model theory and cybernetics. Designing a suitable control law based on the mathematical model of the controlled object is the main feature of model theory and the basis of modern control theory. But for the tracking of random moving targets, because it is difficult to establish a mathematical model, modern control theory is difficult to use. The PID (proportion, integral, derivative) controller, as a standard model-free control method, seems to have a good effect on the control of target tracking. However, the traditional PID control is faced with 'overshoot' (overshoot: overshoot or the maximum deviation, is one of the dynamic performance indicators of the control system, and is the res...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 林程李瑞峰蒋清山蔡章辉林雅峰
Owner FUJIAN QUANZHOU HIT RES INSTIUTE OF ENG & TECH
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